Novel walking assist device based on mobile manipulator and inertial measurement unit

Chuan Yang, Toshiyuki Murakami

Research output: Contribution to journalArticle

9 Citations (Scopus)


This paper presents a method for walking assist control that uses an inertial measurement unit (IMU) sensor fixed to an elderly person's foot to estimate his or her walking motion. In the proposed approach, a mobile device is synchronously driven by the user's walking motion. Furthermore, a manipulator mounted on the mobile device can support and help the user walk. These functions make it possible for the device to move beside the user and coordinate with his or her steps. The validity of the proposed approach was confirmed through several experiments.

Original languageEnglish
Pages (from-to)381-387
Number of pages7
JournalIEEJ Journal of Industry Applications
Issue number5
Publication statusPublished - 2014



  • IMU sensor
  • Mobile device power assisted control
  • Walking motion estimation

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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